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sQPEP: Global Optimal Solutions to Scaled Quadratic Pose Estimation Problems
Bohuan Xue;Yilong Zhu;Tianyu Liu;Jin Wu;Jianhao Jiao;Yi Jiang;Chengxi Zhang;Xinyu Jiang;Zhijian He
IEEE Transactions on Instrumentation and Measurement
Year: 2025 | Early Access Article |
State estimation encounters significant hurdles in scale ambiguity, both when assimilating data from scale-uninformed sources such as Structure from Motion (SfM) and when handling normalized point clouds, each scenario demanding robust solutions to achieve consistent scale and accurate estimation. Addressing this critical issue, we propose the Scaled Quadratic Pose Estimation Problem (sQPEP), a no...Show More
A 3.4–7.4-GHz Filtering Power Divider With Wide Stopband and Low Radiation Loss Using Triple-Mode Hybrid Microstrip/SIDGS Resonator
2024 54th European Microwave Conference (EuMC)
Year: 2024 | Conference Paper |
In this paper, a novel triple-mode hybrid microstrip/substrate-integrated defected ground structure (SIDGS) resonator is proposed to construct a wideband filtering power divider (FPD) with wide stopband and low radiation loss. Three transmission poles are allocated by the hybrid microstrip/SIDGS resonator for wideband operation. To improve passband response and suppress harmonic, L-shape microstri...Show More
EmPointMovSeg: Sparse Tensor-Based Moving-Object Segmentation in 3-D LiDAR Point Clouds for Autonomous Driving-Embedded System
Zhijian He;Xueli Fan;Yun Peng;Zhaoyan Shen;Jianhao Jiao;Ming Liu
Object segmentation is a per-pixel label prediction task that targets at providing context analysis for autonomous driving. Moving-object segmentation (MOS) serves as a subbranch of object segmentation, targeting to separating the surrounding objects into binary options: dynamic and static. MOS is vital for the safety-critical task in autonomous driving because dynamic objects are often a true pot...Show More
FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms
Jianhao Jiao;Hexiang Wei;Tianshuai Hu;Xiangcheng Hu;Yilong Zhu;Zhijian He;Jin Wu;Jingwen Yu;Xupeng Xie;Huaiyang Huang;Ruoyu Geng;Lujia Wang;Ming Liu
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2022 | Conference Paper |
Cited by: Papers (23)
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete multi-sensor dataset with a diverse set of sequences for mobile robots. This paper presents three contributions. We first advance a portable and versatile multi...Show More
FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms
Jianhao Jiao;Hexiang Wei;Tianshuai Hu;Xiangcheng Hu;Yilong Zhu;Zhijian He;Jin Wu;Jingwen Yu;Xupeng Xie;Huaiyang Huang;Ruoyu Geng;Lujia Wang;Ming Liu
Year: 2022 | Conference Paper |
VisDrone-MOT2021: The Vision Meets Drone Multiple Object Tracking Challenge Results
Guanlin Chen;Wenguan Wang;Zhijian He;Lujia Wang;Yixuan Yuan;Dingwen Zhang;Jinglin Zhang;Pengfei Zhu;Luc Van Gool;Junwei Han;Steven Hoi;Qinghua Hu;Ming Liu;Andrea Sciarrone;Chao Sun;Chiara Garibotto;Duong Nguyen-Ngoc Tran;Fabio Lavagetto;Halar Haleem;Hakkı Motorcu;Hasan F. Ateş;Huy-Hung Nguyen;Hyung-Joon Jeon;Igor Bisio;Jae Wook Jeon;Jiahao Li;Long Hoang Pham;Moongu Jeon;Qianyu Feng;Shengwen Li;Tai Huu-Phuong Tran;Xiao Pan;Young-Min Song;Yuehan Yao;Yunhao Du;Zhenyu Xu;Zhipeng Luo
2021 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW)
Year: 2021 | Conference Paper |
Cited by: Papers (23)
Vision Meets Drone: Multiple Object Tracking (VisDrone-MOT2021) challenge – the forth annual activity organized by the VisDrone team – focuses on benchmarking UAV MOT algorithms in realistic challenging environments. It is held in conjunction with ICCV 2021. VisDrone-MOT2021 contains 96 video sequences in total, including 56 sequences (~24K frames) for training, 7 sequences (∼3K frames) for valida...Show More
VisDrone-MOT2021: The Vision Meets Drone Multiple Object Tracking Challenge Results
Guanlin Chen;Wenguan Wang;Zhijian He;Lujia Wang;Yixuan Yuan;Dingwen Zhang;Jinglin Zhang;Pengfei Zhu;Luc Van Gool;Junwei Han;Steven Hoi;Qinghua Hu;Ming Liu;Andrea Sciarrone;Chao Sun;Chiara Garibotto;Duong Nguyen-Ngoc Tran;Fabio Lavagetto;Halar Haleem;Hakkı Motorcu;Hasan F. Ateş;Huy-Hung Nguyen;Hyung-Joon Jeon;Igor Bisio;Jae Wook Jeon;Jiahao Li;Long Hoang Pham;Moongu Jeon;Qianyu Feng;Shengwen Li;Tai Huu-Phuong Tran;Xiao Pan;Young-Min Song;Yuehan Yao;Yunhao Du;Zhenyu Xu;Zhipeng Luo
Year: 2021 | Conference Paper |
VisDrone-DET2021: The Vision Meets Drone Object detection Challenge Results
Yaru Cao;Zhijian He;Lujia Wang;Wenguan Wang;Yixuan Yuan;Dingwen Zhang;Jinglin Zhang;Pengfei Zhu;Luc Van Gool;Junwei Han;Steven Hoi;Qinghua Hu;Ming Liu;Chong Cheng;Fanfan Liu;Guojin Cao;Guozhen Li;Hongkai Wang;Jianye He;Junfeng Wan;Qi Wan;Qi Zhao;Shuchang Lyu;Wenzhe Zhao;Xiaoqiang Lu;Xingkui Zhu;Yingjie Liu;Yixuan Lv;Yujing Ma;Yuting Yang;Zhe Wang;Zhenyu Xu;Zhipeng Luo;Zhimin Zhang;Zhiguang Zhang;Zihao Li;Zixiao Zhang
2021 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW)
Year: 2021 | Conference Paper |
Cited by: Papers (130)
Object detection on the drone faces a great diversity of challenges such as small object inference, background clutter and wide viewpoint. In contrast to traditional detection problem in computer vision, object detection in bird-like angle can not be transplanted directly from common-in-use methods due to special object texture in sky‘s view. However, due to the lack of a comprehensive data set, t...Show More
VisDrone-DET2021: The Vision Meets Drone Object detection Challenge Results
Yaru Cao;Zhijian He;Lujia Wang;Wenguan Wang;Yixuan Yuan;Dingwen Zhang;Jinglin Zhang;Pengfei Zhu;Luc Van Gool;Junwei Han;Steven Hoi;Qinghua Hu;Ming Liu;Chong Cheng;Fanfan Liu;Guojin Cao;Guozhen Li;Hongkai Wang;Jianye He;Junfeng Wan;Qi Wan;Qi Zhao;Shuchang Lyu;Wenzhe Zhao;Xiaoqiang Lu;Xingkui Zhu;Yingjie Liu;Yixuan Lv;Yujing Ma;Yuting Yang;Zhe Wang;Zhenyu Xu;Zhipeng Luo;Zhimin Zhang;Zhiguang Zhang;Zihao Li;Zixiao Zhang
Year: 2021 | Conference Paper |
VisDrone-CC2021: The Vision Meets Drone Crowd Counting Challenge Results
Zhihao Liu;Zhijian He;Lujia Wang;Wenguan Wang;Yixuan Yuan;Dingwen Zhang;Jinglin Zhang;Pengfei Zhu;Luc Van Gool;Junwei Han;Steven Hoi;Qinghua Hu;Ming Liu;Junwen Pan;Baoqun Yin;Binyu Zhang;Chengxin Liu;Ding Ding;Dingkang Liang;Guanchen Ding;Hao Lu;Hui Lin;Jingyuan Chen;Jiong Li;Liang Liu;Lin Zhou;Min Shi;Qianqian Yang;Qing He;Sifan Peng;Wei Xu;Wenwei Han;Xiang Bai;Xiwu Chen;Yabin Wang;Yinfeng Xia;Yiran Tao;Zhenzhong Chen;Zhiguo Cao
2021 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW)
Year: 2021 | Conference Paper |
Cited by: Papers (14)
Crowding counting research evolves quickly by the lever-age of development in deep learning. Many researchers put their efforts into crowd counting tasks and have achieved many significant improvements. However, current datasets still barely satisfy this evolution and high quality evaluation data is urgent. Motivated by high quality and quantity study in crowding counting, we collect a drone-captu...Show More
VisDrone-CC2021: The Vision Meets Drone Crowd Counting Challenge Results
Zhihao Liu;Zhijian He;Lujia Wang;Wenguan Wang;Yixuan Yuan;Dingwen Zhang;Jinglin Zhang;Pengfei Zhu;Luc Van Gool;Junwei Han;Steven Hoi;Qinghua Hu;Ming Liu;Junwen Pan;Baoqun Yin;Binyu Zhang;Chengxin Liu;Ding Ding;Dingkang Liang;Guanchen Ding;Hao Lu;Hui Lin;Jingyuan Chen;Jiong Li;Liang Liu;Lin Zhou;Min Shi;Qianqian Yang;Qing He;Sifan Peng;Wei Xu;Wenwei Han;Xiang Bai;Xiwu Chen;Yabin Wang;Yinfeng Xia;Yiran Tao;Zhenzhong Chen;Zhiguo Cao
Year: 2021 | Conference Paper |
Comparing Representations in Tracking for Event Camera-based SLAM
Jianhao Jiao;Huaiyang Huang;Liang Li;Zhijian He;Yilong Zhu;Ming Liu
2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)
Year: 2021 | Conference Paper |
Cited by: Papers (20)
This paper investigates two typical image-type representations for event camera-based tracking: time surface (TS) and event map (EM). Based on the original TS-based tracker, we make use of these two representations’ complementary strengths to develop an enhanced version. The pro-posed tracker consists of a general strategy to evaluate the optimization problem’s degeneracy online and then switch pr...Show More
A System Identification Based Oracle for Control-CPS Software Fault Localization
Zhijian He;Yao Chen;Enyan Huang;Qixin Wang;Yu Pei;Haidong Yuan
2019 IEEE/ACM 41st International Conference on Software Engineering (ICSE)
Year: 2019 | Conference Paper |
Cited by: Papers (18)
Control-CPS software fault localization (SFL, aka bug localization) is of critical importance as bugs may cause major failures, even injuries/deaths. To locate the bugs in control-CPSs, SFL tools often demand many labeled ("correct"/"incorrect") source code execution traces as inputs. To label the correctness of these traces, we must judge the corresponding control-CPS physical trajectories' corre...Show More
Ard-mu-Copter: A Simple Open Source Quadcopter Platform
Zhijian He;Yanming Chen;Zhaoyan Shen;Enyan Huang;Shuai Li;Zili Shao;Qixin Wang
2015 11th International Conference on Mobile Ad-hoc and Sensor Networks (MSN)
Year: 2015 | Conference Paper |
Cited by: Papers (5)
With the emergence of many commercial-off-the-shelf (COTS) and/or open-source hardware and software, we can now build cheap Unmanned Aerial Vehicles (UAVs). This will enable a broad spectrum of potential UAV based mobile applications. In this work, we propose a simple open UAV platform: Ard-μ-copter. Ard-μ-copter is a quadcopter built upon the open source ArduPilot [1] infrastructure library and h...Show More
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